EP2856599B1 - Predictive control system - Google Patents
Predictive control system Download PDFInfo
- Publication number
- EP2856599B1 EP2856599B1 EP13721949.9A EP13721949A EP2856599B1 EP 2856599 B1 EP2856599 B1 EP 2856599B1 EP 13721949 A EP13721949 A EP 13721949A EP 2856599 B1 EP2856599 B1 EP 2856599B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- power
- load
- predicted
- prediction
- power consumption
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000008859 change Effects 0.000 claims description 16
- 230000001133 acceleration Effects 0.000 claims description 6
- 238000003909 pattern recognition Methods 0.000 claims description 5
- 125000004122 cyclic group Chemical group 0.000 claims description 2
- 230000000737 periodic effect Effects 0.000 claims description 2
- 238000010248 power generation Methods 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 claims 1
- 230000003247 decreasing effect Effects 0.000 claims 1
- 208000003443 Unconsciousness Diseases 0.000 description 5
- 239000000446 fuel Substances 0.000 description 5
- 230000007774 longterm Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000007726 management method Methods 0.000 description 4
- 230000036461 convulsion Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/22—Transmitting power from propulsion power plant to propulsive elements with non-mechanical gearing
- B63H23/24—Transmitting power from propulsion power plant to propulsive elements with non-mechanical gearing electric
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05F—SYSTEMS FOR REGULATING ELECTRIC OR MAGNETIC VARIABLES
- G05F1/00—Automatic systems in which deviations of an electric quantity from one or more predetermined values are detected at the output of the system and fed back to a device within the system to restore the detected quantity to its predetermined value or values, i.e. retroactive systems
- G05F1/10—Regulating voltage or current
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N5/00—Computing arrangements using knowledge-based models
- G06N5/04—Inference or reasoning models
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/12—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load
- H02J3/14—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load by switching loads on to, or off from, network, e.g. progressively balanced loading
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2310/00—The network for supplying or distributing electric power characterised by its spatial reach or by the load
- H02J2310/40—The network being an on-board power network, i.e. within a vehicle
- H02J2310/42—The network being an on-board power network, i.e. within a vehicle for ships or vessels
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S20/00—Management or operation of end-user stationary applications or the last stages of power distribution; Controlling, monitoring or operating thereof
- Y04S20/20—End-user application control systems
- Y04S20/222—Demand response systems, e.g. load shedding, peak shaving
Definitions
- the invention is a method for reducing frequency and/or voltage variations induced by variations in heavy consumer load or equipment failures and controlled changes in a marine power distribution system.
- the present invention relates to a method for reducing frequency and/or voltage variations in the power distribution by the use of predicted future load changes used as feed forward towards speed / power control system on a Motor Generator Set (MGS), or turbojet assist system for the engine, or Automatic Voltage Regulator (AVR) on the generator.
- MGS Motor Generator Set
- AVR Automatic Voltage Regulator
- a widely used marine power system today is diesel electric, meaning that the thrusters and/or propellers are electric driven and that power is provided by motor generator sets driven by such as diesel-engines, fuel cells, gas-turbines, dual fuel engines, etc.
- the most common way of doing speed control on MGS is done by a governor with setpoint adjustment from an overall Power Management System (PMS) or all done by the PMS itself..
- PMS Power Management System
- the power is taken from a power plant with many consumers, where the thrusters normally being the dominant one.
- a high number of MGS are normally required to be connected to the power plant in order to keep a stable frequency and/or voltage in the occurrence of consumer load variations from e.g.
- the proposed invention solves the problem with significant frequency and/or voltage variations when reducing the number of online MGS with use of the equipment normally installed on a vessel, as described in the accompanying claims.
- the present invention thus presents ways of integrating overall predicted load changes on heavy consumers or other sudden re-configuration of the distribution system together with the speed / power / voltage control system combined with methods for predicting load variations in a way that has never been done before.
- the invention is related to a method and system as illustrated in figure 1 and 2 for Dynamic Load Prediction (DLP) within a power management system.
- the DLP system preferably comprises a number of prediction functions 120.1-6, an overall predicted load allocation function 121 with distribution of feed forward values and a MGS controller 122.
- the objective for the prediction functions is to predict the load change for the MGS.
- One of these predictions can e.g. be load change due to a planned vessel speed change, which can be calculated by the DP control system 120.1 based on the resulting force demand in each of the controlled axes in order to achieve the desired vessel speed.
- the predicted load can be a short- or long term prediction (described in details below).
- Short term prediction can be used to give instant increase / decrease on MGS typical period of 1 sec
- long term predications typical 10-30 sec can be used to allow frequency / voltage deviations which will be compensated by later load increase / decrease.
- Another possible predicted change may be related to a change in MGS load due to setpoint change on any dynamic heavy consumer 120.2 such as cranes, heave compensation, drilling and/or a thruster manual lever.
- a manual lever may both send signals to the thruster drive and to the setpoint change prediction function 120.2 which predict the action and amplitude of the intended change.
- MGS shutdown / load limitation / generator- or tie- breaker tripping which predict the amount of extra load on the remaining MGS 120.3 may also be included in the system according to the invention, as well as heavy consumer start control which predict the needed load for a start of a consumer 120.4.
- Predicted load shedding may also be used, which predicts the amount of load to be reduced when a consumer is tripped 120.5
- Pattern from any cyclic load e.g. heave compensation will give recognition of the load consumption and this pattern is used for longer time scale prediction inside the pattern recognition function 120.6
- the pattern recognition function will be used to allow the system to operate with a frequency / voltage deviation if you have a load increase / decrease in the future which will compensate for the frequency / voltage deviation. Pattern recognition can also be used to predict a feed forward before actual load changes. As an example the system may experience a reduced operation frequency because a high load, but decide not to increase the generated power because the prediction shows that the load will decrease within an acceptable time window and the operation frequency thus be back to normal. In this way the power generation will be stable and unnecessary wear on the system as well as pollution will be reduced.
- the means and nature of the predictions themselves may differ depending on the consumer, from planned schedules to evaluations of equipment conditions and wear.
- the predicted power consumption may be determined on a long or short time horizon, e.g. as in a heave compensation (long term), or as a single rise in consumption (short term), e.g. resulting from a breakdown or shutdown of a generator.
- the predicted load changes are sent further to the predicted load allocation function 121, where total predicted load changes from all individual prediction functions ( 120.1-6) are added together, verified and distributed as feed forward values to each affected MGS according to the switchboard configuration status received from power management system 123 including power feeding of relevant consumers.
- the switchboard configuration status sent from 123 to 121 will provide information about the available combinations of thrusters and generators etc, thus e.g. providing information concerning which generators are able to provide power to each of the consumers.
- Each feed forward value may be sent further to a look up curve or table related to the fuel / rpm / kW relationship on a DC bus system to adjust the base rpm on a variable rpm MGS to achieve the needed torque, handled by a MGS Base Speed Controller 122.1.. It may also be sent further to the speed / power control system for each MGS, where the value is added as a extra load contribution 122.2 and/or to the turbo jet assist system to improve the engine response 122.3 and/or to the generator AVR system to improve the voltage response 122.4.
- Thruster load prediction in DP 120.1
- the DP system uses a constant jerk trajectory generator to calculate position, speed and acceleration setpoints for the DP controller.
- the jerk trajectory generator is a well known method e.g. described in Haschke et al, "On-line Planning of Time-Optimal, Jerk-Limited Trajectories" IROS conference, Nice 2008 .
- An increase of the velocity setpoint will lead to a change in the acceleration of the vessel.
- This acceleration demand is converted to power, and is sent to the DLP.
- the trajectory generator provides a well defined acceleration progress, and is well suited for calculating long term future demands.
- a DP positioned vessel that is drifting away from the position setpoint will have an increasing power demand until the drift off is stopped, and the vessel is moving towards the position setpoint again.
- the DP control system can estimate by model prediction the maximum power usage for a drift off, and can give this result to the DLP.
- the DP control system may also predict load demand based on environmental measurements e.g. wind speed and direction which may affect the position and/or movement of the vessel, this is a typical short term prediction.
- the DP control system may also run an analysis which simulates blackout on the switchboard sections and/or loss of thrusters. This analysis is mandatory on all DP class 2 and 3 vessels. The analysis will estimate the power usage on the remaining switchboard sections when one switchboard section blackouts. The analysis can also calculate the change in load demand in case of loss of thrusters. This can be sent to the DLP, so that the predicted load allocation function 121 will instantly know the power demand when a blackout / thruster loss is detected on one switchboard section.
- the invention relates to a system for reducing frequency and/or voltage variations in the power distribution system.
- the system comprises a power control unit being connected to at least one power generator and at least one consumer, power control system being adapted to monitor the measured load in the system from said at least one power generator and the power consumption from said at least one consumer.
- the system also includes a prediction allocating system for adapted to receive information from each consumer. This information is related to the planned or predicted power consumption and the system is thus adapted to calculate expected power consumption of the system, and feeding the allocated power consumption to a motor generator system (MGS) controller.
- MGS motor generator system
- the prediction allocating system is also adapted to receive information from the power management system about switchboard configuration status and information relating to available power generators and thrusters. This way the required available power may be allocating according information about the available generators connected to the specific consumers.
- the system preferably includes a dynamic positioning control system, wherein the dynamic positioning control system being adapted to define the force converted to load based on a speed or acceleration change.
- the power system is adapted to adjust the speed on the diesel engine and/or trigger the turbo jet assist system, based on predicted feed forward load contribution. This way the total frequency / voltage variation may be reduced depending on load variations forced by the thrusters or other dynamically controlled heavy consumers.
- the predicted information may represent different consumers and generators in the system, e.g. a dynamic positioning control system, possible generator shut down, breaker tripping, load shedding systems, and include information such as a setpoint change from at least one power consumer, time varying or periodic loads, manual controls or planed shutdown operations in consumers, generators, switchboards etc, reducing or increasing the available power in the system. This may be performed in short term (e.g. 1 second) or long term (e.g. more than 20 seconds) depending on the situation and consumer.
- a dynamic positioning control system e.g. a dynamic positioning control system, possible generator shut down, breaker tripping, load shedding systems
- information such as a setpoint change from at least one power consumer, time varying or periodic loads, manual controls or planed shutdown operations in consumers, generators, switchboards etc, reducing or increasing the available power in the system. This may be performed in short term (e.g. 1 second) or long term (e.g. more than 20 seconds) depending on the situation and consumer.
- the calculated predicted power consumption is preferably a sum of the predicted consumption from each consumer, being allocated to the motor generator controller. If the predicted power is a time varying table or curve the values of single, stepped and time varying predictions are summed in a table or curve indicating the forward power consumption relative to a time scale.
Landscapes
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Electromagnetism (AREA)
- Theoretical Computer Science (AREA)
- Computing Systems (AREA)
- Data Mining & Analysis (AREA)
- Evolutionary Computation (AREA)
- Computational Linguistics (AREA)
- General Engineering & Computer Science (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Artificial Intelligence (AREA)
- Supply And Distribution Of Alternating Current (AREA)
- Control Of Eletrric Generators (AREA)
- Remote Monitoring And Control Of Power-Distribution Networks (AREA)
Description
- The invention is a method for reducing frequency and/or voltage variations induced by variations in heavy consumer load or equipment failures and controlled changes in a marine power distribution system.
- The present invention relates to a method for reducing frequency and/or voltage variations in the power distribution by the use of predicted future load changes used as feed forward towards speed / power control system on a Motor Generator Set (MGS), or turbojet assist system for the engine, or Automatic Voltage Regulator (AVR) on the generator.
- A widely used marine power system today is diesel electric, meaning that the thrusters and/or propellers are electric driven and that power is provided by motor generator sets driven by such as diesel-engines, fuel cells, gas-turbines, dual fuel engines, etc. The most common way of doing speed control on MGS is done by a governor with setpoint adjustment from an overall Power Management System (PMS) or all done by the PMS itself.. The power is taken from a power plant with many consumers, where the thrusters normally being the dominant one. A high number of MGS are normally required to be connected to the power plant in order to keep a stable frequency and/or voltage in the occurrence of consumer load variations from e.g. electric heave compensation, draw-work, winch, crane and thrusters or sudden re-configuration of the distribution system. Frequency and/or voltage variations can be fatal for the power system and might lead to black-out, fallout of subsystems, and synchronization problems for generators that shall be connected to the power grid and increased fuel consumption. The offshore industry has for many years desired to reduce the number of online MGS without increased risk of frequency and/or voltage variations and potential black-out, but no substantial solution has been provided for this problem. There are several benefits from reducing the number of online MGS, such as reduced NOx emission, reduced sooting, reduced fuel consumption, and reduced maintenance on the engines.
- Systems for handling load and power supply to compensate for variations in load are known in the field, such as exemplified in
US2006/111855 where power may be redirected from the thruster, e.g. to heave compensation, andUS2008/284369 where the power supply is controlled based on information about the torque in the motors and e.g. the signals from a dynamic positioning control system. Thus the known system are reactive in the sense that they relate to measured, already occurred, deviations, and relate to sensed power requirements, thus e.g. a simultaneous rise in the load from one or more consumers may exceed the available power increase rate and thus result in a system frequency reduction.US2008/058998 also shows an example of this where the system is capable of finding from measured data if a system is capable of supporting an electrical load based on a profile of predetermined threshold levels. - The proposed invention solves the problem with significant frequency and/or voltage variations when reducing the number of online MGS with use of the equipment normally installed on a vessel, as described in the accompanying claims.
- The present invention thus presents ways of integrating overall predicted load changes on heavy consumers or other sudden re-configuration of the distribution system together with the speed / power / voltage control system combined with methods for predicting load variations in a way that has never been done before.
- None of the known solutions address the fact that feed forwarding the predicted total load change can be used to obtain a more stable frequency and/or voltage, compared to traditional feedback compensation.
- The invention is defined by the appended claims and will be described more in detail below with reference to the accompanying drawings, illustrating the invention by way of examples.
- Fig. 1
- illustrates the prediction and distribution part of the invention.
- Fig. 2
- illustrates the use of predicted feed forward values in MGS control.
- The invention is related to a method and system as illustrated in
figure 1 and2 for Dynamic Load Prediction (DLP) within a power management system. The DLP system preferably comprises a number of prediction functions 120.1-6, an overall predictedload allocation function 121 with distribution of feed forward values and aMGS controller 122. - The objective for the prediction functions is to predict the load change for the MGS. One of these predictions can e.g. be load change due to a planned vessel speed change, which can be calculated by the DP control system 120.1 based on the resulting force demand in each of the controlled axes in order to achieve the desired vessel speed. The predicted load can be a short- or long term prediction (described in details below).
- Short term prediction can be used to give instant increase / decrease on MGS typical period of 1 sec, long term predications typical 10-30 sec can be used to allow frequency / voltage deviations which will be compensated by later load increase / decrease.
- Another possible predicted change may be related to a change in MGS load due to setpoint change on any dynamic heavy consumer 120.2 such as cranes, heave compensation, drilling and/or a thruster manual lever. As an example a manual lever may both send signals to the thruster drive and to the setpoint change prediction function 120.2 which predict the action and amplitude of the intended change. MGS shutdown / load limitation / generator- or tie- breaker tripping which predict the amount of extra load on the remaining MGS 120.3 may also be included in the system according to the invention, as well as heavy consumer start control which predict the needed load for a start of a consumer 120.4.
- Predicted load shedding may also be used, which predicts the amount of load to be reduced when a consumer is tripped 120.5
- Pattern from any cyclic load e.g. heave compensation will give recognition of the load consumption and this pattern is used for longer time scale prediction inside the pattern recognition function 120.6
- The pattern recognition function will be used to allow the system to operate with a frequency / voltage deviation if you have a load increase / decrease in the future which will compensate for the frequency / voltage deviation. Pattern recognition can also be used to predict a feed forward before actual load changes. As an example the system may experience a reduced operation frequency because a high load, but decide not to increase the generated power because the prediction shows that the load will decrease within an acceptable time window and the operation frequency thus be back to normal. In this way the power generation will be stable and unnecessary wear on the system as well as pollution will be reduced.
- Thus the means and nature of the predictions themselves may differ depending on the consumer, from planned schedules to evaluations of equipment conditions and wear. The predicted power consumption may be determined on a long or short time horizon, e.g. as in a heave compensation (long term), or as a single rise in consumption (short term), e.g. resulting from a breakdown or shutdown of a generator.
- The predicted load changes are sent further to the predicted
load allocation function 121, where total predicted load changes from all individual prediction functions ( 120.1-6) are added together, verified and distributed as feed forward values to each affected MGS according to the switchboard configuration status received frompower management system 123 including power feeding of relevant consumers.
The switchboard configuration status sent from 123 to 121 will provide information about the available combinations of thrusters and generators etc, thus e.g. providing information concerning which generators are able to provide power to each of the consumers. - Each feed forward value may be sent further to a look up curve or table related to the fuel / rpm / kW relationship on a DC bus system to adjust the base rpm on a variable rpm MGS to achieve the needed torque, handled by a MGS Base Speed Controller 122.1.. It may also be sent further to the speed / power control system for each MGS, where the value is added as a extra load contribution 122.2 and/or to the turbo jet assist system to improve the engine response 122.3 and/or to the generator AVR system to improve the voltage response 122.4.
- The DP system uses a constant jerk trajectory generator to calculate position, speed and acceleration setpoints for the DP controller. The jerk trajectory generator is a well known method e.g. described in Haschke et al, "On-line Planning of Time-Optimal, Jerk-Limited Trajectories" IROS conference, Nice 2008. An increase of the velocity setpoint will lead to a change in the acceleration of the vessel. This acceleration demand is converted to power, and is sent to the DLP. The trajectory generator provides a well defined acceleration progress, and is well suited for calculating long term future demands.
- A DP positioned vessel that is drifting away from the position setpoint will have an increasing power demand until the drift off is stopped, and the vessel is moving towards the position setpoint again. The DP control system can estimate by model prediction the maximum power usage for a drift off, and can give this result to the DLP.
- The DP control system may also predict load demand based on environmental measurements e.g. wind speed and direction which may affect the position and/or movement of the vessel, this is a typical short term prediction.
- The DP control system may also run an analysis which simulates blackout on the switchboard sections and/or loss of thrusters. This analysis is mandatory on all DP class 2 and 3 vessels. The analysis will estimate the power usage on the remaining switchboard sections when one switchboard section blackouts. The analysis can also calculate the change in load demand in case of loss of thrusters. This can be sent to the DLP, so that the predicted
load allocation function 121 will instantly know the power demand when a blackout / thruster loss is detected on one switchboard section. - Thus to summarize the invention relates to a system for reducing frequency and/or voltage variations in the power distribution system. The system comprises a power control unit being connected to at least one power generator and at least one consumer, power control system being adapted to monitor the measured load in the system from said at least one power generator and the power consumption from said at least one consumer. The system also includes a prediction allocating system for adapted to receive information from each consumer. This information is related to the planned or predicted power consumption and the system is thus adapted to calculate expected power consumption of the system, and feeding the allocated power consumption to a motor generator system (MGS) controller.
- The prediction allocating system is also adapted to receive information from the power management system about switchboard configuration status and information relating to available power generators and thrusters. This way the required available power may be allocating according information about the available generators connected to the specific consumers.
- The system preferably includes a dynamic positioning control system, wherein the dynamic positioning control system being adapted to define the force converted to load based on a speed or acceleration change. The power system is adapted to adjust the speed on the diesel engine and/or trigger the turbo jet assist system, based on predicted feed forward load contribution. This way the total frequency / voltage variation may be reduced depending on load variations forced by the thrusters or other dynamically controlled heavy consumers.
- The predicted information may represent different consumers and generators in the system, e.g. a dynamic positioning control system, possible generator shut down, breaker tripping, load shedding systems, and include information such as a setpoint change from at least one power consumer, time varying or periodic loads, manual controls or planed shutdown operations in consumers, generators, switchboards etc, reducing or increasing the available power in the system. This may be performed in short term (e.g. 1 second) or long term (e.g. more than 20 seconds) depending on the situation and consumer.
- The calculated predicted power consumption is preferably a sum of the predicted consumption from each consumer, being allocated to the motor generator controller. If the predicted power is a time varying table or curve the values of single, stepped and time varying predictions are summed in a table or curve indicating the forward power consumption relative to a time scale.
Claims (10)
- A system for reducing the frequency or voltage variation in the power distribution system of a marine vessel, the system comprising:a Dynamic Positioning (DP) control system (120.1);a pattern recognition function (120.6);a power control unit being connected to at least one power generator (G) and at least one consumer including at least one thruster or other dynamically controlled heavy consumers (120.1, 120.4), the power control unit being adapted to monitor a measured load in the system from said at least one power generator (G) and power consumption from said at least one consumer;a prediction allocating system (121) adapted to receive information from each consumer related to a planned or predicted power consumption and to calculate expected power consumption of the system, and feeding the allocated power consumption to a motor generator system (MGS) controller (122) so as to increasing or decreasing the power generation based on the planned or predicted power consumption in order to reduce total frequency variation depending on load variations forced by said at least one consumers;
characterised in that the DP control system is adapted to calculate a change in load of said at least one thruster (120.1) or other dynamically controlled heavy consumers (120.4) based on a force demand related to at least one of controlled axes of a marine vessel;in that the pattern recognition function (120.6) is configured to utilize a load consumption pattern from a cyclic load andin that the system is configured to reduce, via the prediction allocating system (121) and MGS, at least one of frequency and voltage variations in the power distribution system in the marine vessel. - System according to claim 1, wherein the prediction allocating system (121) is also adapted to receive information from a power managing system (123) switchboard including information relating to available power generators (G) and thrusters, thus allocating the available power according to the available generators.
- System according to claim 1, wherein the DP control system is adapted to define the force converted to load based on a speed or acceleration change, and said power control unit is adapted to adjust the speed on the diesel engine and/or trigger the turbo jet assist system, based on predicted feed forward load.
- System according to claim 1, wherein the predicted information represents a setpoint change (120.2) from at least one power consumer.
- System according to claim 1, wherein the predicted information is related to a generator shut-down reducing the available power in the system.
- System according to claim 1 wherein the prediction is in a time scale of 1 second, indicating short term changes in the system.
- System according to claim 1, wherein the prediction includes time varying power consumption, e.g. a periodic variation in the load.
- System according to claim 1, wherein the predicted consumption is used to adjust a base rpm on a common rail variable rpm machine on a DC bus system, thus to allow the machine to deliver the needed torque.
- System according to claim 1, wherein the calculation includes a summation of predicted power requirements.
- System according to claim 9, wherein the summation results in a curve or table including the predicted power consumption relative to time.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NO20120507A NO334364B1 (en) | 2012-05-03 | 2012-05-03 | PREDICTIVE CONTROL SYSTEM. |
PCT/EP2013/059120 WO2013164392A1 (en) | 2012-05-03 | 2013-05-02 | Predictive control system |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2856599A1 EP2856599A1 (en) | 2015-04-08 |
EP2856599B1 true EP2856599B1 (en) | 2020-06-24 |
Family
ID=48428459
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP13721949.9A Active EP2856599B1 (en) | 2012-05-03 | 2013-05-02 | Predictive control system |
Country Status (8)
Country | Link |
---|---|
US (1) | US9811099B2 (en) |
EP (1) | EP2856599B1 (en) |
KR (1) | KR102021474B1 (en) |
CN (1) | CN104350659B (en) |
DK (1) | DK2856599T3 (en) |
ES (1) | ES2813951T3 (en) |
NO (1) | NO334364B1 (en) |
WO (1) | WO2013164392A1 (en) |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10345842B2 (en) * | 2011-10-31 | 2019-07-09 | Mitsubishi Electric Corporation | Power-distribution-system voltage control system, power-distribution-system voltage control method, and centralized voltage control apparatus |
JP6129768B2 (en) * | 2014-03-07 | 2017-05-17 | 株式会社日立製作所 | Consumer equipment operation management system and method |
US20150274275A1 (en) * | 2014-03-27 | 2015-10-01 | Caterpillar Inc. | Dynamic load-sharing power system |
EP2966518B1 (en) | 2014-07-07 | 2019-08-28 | Caterpillar Motoren GmbH & Co. KG | Control system and method for generator sets |
NO20150349A1 (en) | 2015-03-20 | 2016-08-22 | Kongsberg Maritime As | Dynamic hybrid control |
US10509374B2 (en) | 2015-10-07 | 2019-12-17 | University Of Utah Research Foundation | Systems and methods for managing power generation and storage resources |
US10282687B2 (en) * | 2015-10-07 | 2019-05-07 | University Of Utah Research Foundation | Systems and methods for managing power generation resources |
US10296030B2 (en) * | 2015-10-07 | 2019-05-21 | University Of Utah Research Foundation | Systems and methods for power system management |
US10281918B2 (en) * | 2015-12-18 | 2019-05-07 | Abb Schweiz Ag | Control system for operating a vessel |
US10447077B2 (en) * | 2017-04-26 | 2019-10-15 | Kohler Co. | Predictive generator events |
CN107591841B (en) * | 2017-09-26 | 2019-11-22 | 清华大学 | Power grid Evolution Simulation method under being accessed on a large scale suitable for new energy |
CN109697555A (en) * | 2018-12-11 | 2019-04-30 | 浙江大学 | A kind of high-speed railway operating status dispatching method before the alarm release for wind speed |
CN110275440B (en) * | 2019-07-02 | 2022-04-26 | 江苏科技大学 | Multi-energy ship energy management controller based on load prediction and control method thereof |
KR102504915B1 (en) * | 2020-03-04 | 2023-03-03 | 한국조선해양 주식회사 | Ship power generating system |
CN112389607B (en) * | 2020-11-19 | 2021-10-01 | 哈尔滨工程大学 | Comprehensive power load prediction method for electric propulsion ship |
NO347285B1 (en) | 2022-02-11 | 2023-08-21 | Kongsberg Maritime As | Intelligent Energy Management System (iEMS) and Balance Profile |
EP4228115A1 (en) | 2022-02-11 | 2023-08-16 | Kongsberg Maritime AS | Intelligent energy management system (iems) and balance profile |
CN114619639B (en) * | 2022-03-10 | 2024-04-02 | 泰瑞机器股份有限公司 | Method for electrically distributing driver for injection molding machine motor |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07334207A (en) * | 1994-06-14 | 1995-12-22 | Hitachi Ltd | Method and system for controlling load of plant |
NO322007B1 (en) | 2004-11-19 | 2006-08-07 | Marine Cybernetics As | Method and system for testing a dynamic positioning system |
US7957847B2 (en) * | 2005-09-30 | 2011-06-07 | Hitachi Global Storage Technologies Netherlands, B.V. | Voltage regulating systems responsive to feed-forward information from deterministic loads |
US8209101B2 (en) * | 2006-08-29 | 2012-06-26 | The Boeing Company | Method and system for adaptive power management |
WO2008047400A1 (en) * | 2006-10-16 | 2008-04-24 | Vpec, Inc. | Electric power system |
GB2449119B (en) | 2007-05-11 | 2012-02-29 | Converteam Technology Ltd | Power converters |
US8004252B2 (en) | 2007-06-29 | 2011-08-23 | General Electric Company | Power system stabilizer and method |
EP2083170A1 (en) * | 2008-01-23 | 2009-07-29 | Flexenclosure AB | Method and device for controlling operation of a power supply system |
US20100039054A1 (en) * | 2008-08-14 | 2010-02-18 | General Electric Company | Vehicle, system and method |
ES2636570T3 (en) * | 2009-03-12 | 2017-10-06 | Vpec, Inc. | Standalone Distributed AC Power System |
KR101254846B1 (en) * | 2009-12-04 | 2013-04-15 | 엘에스산전 주식회사 | Apparatus for measuring generation power and load power for power generation system |
BR112012025823B1 (en) * | 2010-04-09 | 2019-12-10 | Siemens Ag | Marine drillship power supply system and method of controlling a marine drillship power supply system |
EP2400271A1 (en) * | 2010-06-24 | 2011-12-28 | Abb Oy | Method an arrangement for controlling energy consumption in a marine vessel |
US9870593B2 (en) * | 2011-12-05 | 2018-01-16 | Hatch Ltd. | System, method and controller for managing and controlling a micro-grid |
-
2012
- 2012-05-03 NO NO20120507A patent/NO334364B1/en unknown
-
2013
- 2013-05-02 EP EP13721949.9A patent/EP2856599B1/en active Active
- 2013-05-02 KR KR1020147033924A patent/KR102021474B1/en active IP Right Grant
- 2013-05-02 DK DK13721949.9T patent/DK2856599T3/en active
- 2013-05-02 ES ES13721949T patent/ES2813951T3/en active Active
- 2013-05-02 WO PCT/EP2013/059120 patent/WO2013164392A1/en active Application Filing
- 2013-05-02 CN CN201380023439.XA patent/CN104350659B/en active Active
- 2013-05-02 US US14/397,790 patent/US9811099B2/en active Active
Non-Patent Citations (1)
Title |
---|
None * |
Also Published As
Publication number | Publication date |
---|---|
EP2856599A1 (en) | 2015-04-08 |
US20150051746A1 (en) | 2015-02-19 |
ES2813951T3 (en) | 2021-03-25 |
CN104350659A (en) | 2015-02-11 |
KR20150004421A (en) | 2015-01-12 |
WO2013164392A1 (en) | 2013-11-07 |
DK2856599T3 (en) | 2020-08-17 |
CN104350659B (en) | 2017-03-22 |
NO334364B1 (en) | 2014-02-17 |
KR102021474B1 (en) | 2019-09-17 |
US9811099B2 (en) | 2017-11-07 |
NO20120507A1 (en) | 2013-11-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP2856599B1 (en) | Predictive control system | |
CN107534300B (en) | Dynamic hybrid control | |
Radan | Integrated control of marine electrical power systems | |
EP2981712B1 (en) | Multi-farm wind power generation system | |
CN106537717B (en) | Method for controlling a wind power plant, wind power plant system and storage medium | |
KR102070147B1 (en) | Dynamic load compensation | |
JP2007037226A (en) | Power supply system and its control method | |
JP6609520B2 (en) | Microgrid control apparatus and method | |
WO2019036171A1 (en) | Maintenance optimization control system for load sharing between engines | |
Bø et al. | Dynamic consequence analysis of marine electric power plant in dynamic positioning | |
KR20220083813A (en) | power supply system | |
US11437813B2 (en) | System controller for a hybrid aircraft propulsion system | |
Feng | Dynamic balancing for low inertia power systems | |
KR101691907B1 (en) | Test system for controller of ship | |
EP2110944B1 (en) | A generating system | |
US20200076201A1 (en) | Island Grid And Method For Operating An Island Grid | |
AS | Methods for Reducing Frequency and Voltage Variations on DP Vessels | |
Breivik et al. | Methods for reducing frequency and voltage variations on DP vessels | |
KR102631022B1 (en) | Hybrid power plant operation method in independent system | |
Simkin et al. | Retrofitting automated process control systems at Ukrainian power stations | |
KR20160037329A (en) | A velocity control method for sailing a hybrid eletric vessel in a zero emission zone |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
17P | Request for examination filed |
Effective date: 20141114 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
AX | Request for extension of the european patent |
Extension state: BA ME |
|
DAX | Request for extension of the european patent (deleted) | ||
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: EXAMINATION IS IN PROGRESS |
|
17Q | First examination report despatched |
Effective date: 20180516 |
|
GRAP | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOSNIGR1 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: GRANT OF PATENT IS INTENDED |
|
RIC1 | Information provided on ipc code assigned before grant |
Ipc: B63H 21/21 20060101ALI20191129BHEP Ipc: B63H 23/24 20060101ALI20191129BHEP Ipc: G05F 1/10 20060101ALI20191129BHEP Ipc: H02J 3/14 20060101AFI20191129BHEP |
|
INTG | Intention to grant announced |
Effective date: 20200103 |
|
GRAS | Grant fee paid |
Free format text: ORIGINAL CODE: EPIDOSNIGR3 |
|
GRAA | (expected) grant |
Free format text: ORIGINAL CODE: 0009210 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE PATENT HAS BEEN GRANTED |
|
AK | Designated contracting states |
Kind code of ref document: B1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
REG | Reference to a national code |
Ref country code: GB Ref legal event code: FG4D |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: EP |
|
REG | Reference to a national code |
Ref country code: AT Ref legal event code: REF Ref document number: 1284833 Country of ref document: AT Kind code of ref document: T Effective date: 20200715 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R096 Ref document number: 602013070124 Country of ref document: DE |
|
REG | Reference to a national code |
Ref country code: IE Ref legal event code: FG4D |
|
REG | Reference to a national code |
Ref country code: DK Ref legal event code: T3 Effective date: 20200810 |
|
REG | Reference to a national code |
Ref country code: NL Ref legal event code: FP |
|
REG | Reference to a national code |
Ref country code: FI Ref legal event code: FGE |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: NO Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20200924 Ref country code: SE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20200624 Ref country code: GR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20200925 Ref country code: LT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20200624 |
|
REG | Reference to a national code |
Ref country code: LT Ref legal event code: MG4D |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: BG Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20200924 Ref country code: RS Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20200624 Ref country code: LV Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20200624 Ref country code: HR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20200624 |
|
REG | Reference to a national code |
Ref country code: AT Ref legal event code: MK05 Ref document number: 1284833 Country of ref document: AT Kind code of ref document: T Effective date: 20200624 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: AL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20200624 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: AT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20200624 Ref country code: SM Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20200624 Ref country code: EE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20200624 Ref country code: CZ Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20200624 Ref country code: RO Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20200624 Ref country code: PT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20201026 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: PL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20200624 Ref country code: SK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20200624 Ref country code: IS Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20201024 |
|
REG | Reference to a national code |
Ref country code: ES Ref legal event code: FG2A Ref document number: 2813951 Country of ref document: ES Kind code of ref document: T3 Effective date: 20210325 Ref country code: DE Ref legal event code: R097 Ref document number: 602013070124 Country of ref document: DE |
|
PLBE | No opposition filed within time limit |
Free format text: ORIGINAL CODE: 0009261 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT |
|
26N | No opposition filed |
Effective date: 20210325 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: SI Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20200624 |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: PL |
|
GBPC | Gb: european patent ceased through non-payment of renewal fee |
Effective date: 20210502 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: CH Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20210531 Ref country code: MC Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20200624 Ref country code: LI Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20210531 Ref country code: LU Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20210502 |
|
REG | Reference to a national code |
Ref country code: BE Ref legal event code: MM Effective date: 20210531 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: IE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20210502 Ref country code: GB Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20210502 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: FR Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20210531 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: BE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20210531 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: HU Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO Effective date: 20130502 |
|
P01 | Opt-out of the competence of the unified patent court (upc) registered |
Effective date: 20230515 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: CY Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20200624 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: NL Payment date: 20230526 Year of fee payment: 11 Ref country code: IT Payment date: 20230519 Year of fee payment: 11 Ref country code: ES Payment date: 20230601 Year of fee payment: 11 Ref country code: DK Payment date: 20230530 Year of fee payment: 11 Ref country code: DE Payment date: 20230530 Year of fee payment: 11 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: FI Payment date: 20230525 Year of fee payment: 11 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: MK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20200624 |